End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder

Takashi Matsuzawa*, Kenji Hashimoto, Tomotaka Teramachi, Kazuhiro Uryu, Xiao Sun, Shinya Hamamoto, Ayanori Koizumi, Atsuo Takanishi

*この研究の対応する著者

    研究成果: Chapter

    8 被引用数 (Scopus)

    抄録

    This paper describes the development of end-effector for disaster response robot with commonly structured limbs and experiment of climbing a vertical ladder. The end-effector is required to have the ability to hang on rungs and side rails and work as both hands and feet. We developed an end-effector with hook-like shape so that it can hang on both rungs and side rails, and grooves on the back of hook make it possible for the end-effector to play the role of both hands and feet, fixing on the rungs of ladder firmly. Moreover, the design of the end-effector allows the robot to perform some locomotion style other than climbing, like bipedal walking. We made the experiment in climbing a ladder obeying Japanese Industrial Standards (JIS) performed by the robot. As a result, end-effectors enabled the robot’s feet to reach the highest rung.

    本文言語English
    ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
    出版社Springer International Publishing
    ページ311-319
    ページ数9
    DOI
    出版ステータスPublished - 2016 1月 1

    出版物シリーズ

    名前CISM International Centre for Mechanical Sciences, Courses and Lectures
    569
    ISSN(印刷版)0254-1971
    ISSN(電子版)2309-3706

    ASJC Scopus subject areas

    • 機械工学
    • 材料力学
    • コンピュータ サイエンスの応用
    • モデリングとシミュレーション

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